China Mechanical Engineering ›› 2021, Vol. 32 ›› Issue (21): 2521-2531.DOI: 10.3969/j.issn.1004-132X.2021.21.001

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A Review of Force Sensing Technology in Robot-assisted Laparoscopic Surgery

ZHANG Jianxun1,2;YAO Bin1,2;DAI Yu1,2;XIA Guangming1,2   

  1. 1.College of Artificial Intelligence,Nankai University,Tianjin,300350
    2.Institute of Robotics & Automatic Information System,Nankai University,Tianjin,300350
  • Online:2021-11-10 Published:2021-11-25



  1. 1.南开大学人工智能学院,天津,300350
  • 通讯作者: 代煜(通信作者),男,1981年生,教授、博士研究生导师。研究方向为面向手术机器人的智能感知技术。。
  • 作者简介:张建勋,男,1961年生,教授、博士研究生导师。研究方向为医疗机器人技术、智能机器人控制等。。
  • 基金资助:

Abstract: In order to promote the further research and clinical applications of force sensing technology in robot-assisted laparoscopic surgery, the research progresses were reviewed. Sensor force sensing was divided into two categories:electrical signal-based sensing and optical signal-based sensing. Some key indicators were analyzed, such as sensor position distribution on surgical instruments, mechanical structure, measurement range, measurement accuracy and electromagnetic compatibility. Sensors advantages and disadvantages were discussed. Sensorless force sensing was divided into two categories:vision-based sensing and dynamic model-based sensing. And the realization method, technical obstacle and error sources were analyzed. Finally, the development trend of force sensing technology in robot-assisted laparoscopic surgery was prospected. 

Key words:  , force sensor, force sensing, research progress, robot-assisted laparoscopic surgery

摘要: 为了推动机器人辅助腹腔镜手术中力感知技术的深入研究和临床应用,综述了其研究进展。针对有传感器的力感知,将其分为基于电信号和基于光信号两类,分析了传感器在手术器械上的位置分布、机械结构、测量范围、测量精度和电磁兼容性等关键指标,并讨论了其优势和局限;针对无传感器的力感知,将其分为基于视觉和基于动力学模型两类,并分析了其实现方法、技术障碍和误差来源。最后,展望了机器人辅助腹腔镜手术中力感知技术的发展趋势。

关键词: 力传感器, 力感知, 研究进展, 机器人辅助腹腔镜手术

CLC Number: